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LandDetector: Check each rotation angle rather than the magnitude

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Johan Jansen
2015-02-09 18:06:29 +01:00
parent fe21cb6a1a
commit 9ddb7e72e4
2 changed files with 4 additions and 4 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+3 -3
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@@ -111,9 +111,9 @@ bool MulticopterLandDetector::update()
&& _vehicleStatus.condition_global_position_valid; && _vehicleStatus.condition_global_position_valid;
// next look if all rotation angles are not moving // next look if all rotation angles are not moving
bool rotating = sqrtf(_vehicleAttitude.rollspeed*_vehicleAttitude.rollspeed + bool rotating = fabsf(_vehicleAttitude.rollspeed) > _params.maxRotation ||
_vehicleAttitude.pitchspeed*_vehicleAttitude.pitchspeed + fabsf(_vehicleAttitude.pitchspeed) > _params.maxRotation ||
_vehicleAttitude.yawspeed*_vehicleAttitude.yawspeed) > _params.maxRotation; fabsf(_vehicleAttitude.yawspeed) > _params.maxRotation;
// check if thrust output is minimal (about half of default) // check if thrust output is minimal (about half of default)
bool minimalThrust = _actuators.control[3] <= _params.maxThrottle; bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;
src/modules/land_detector/land_detector_params.c
+1 -1
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@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
* *
* @group Land Detector * @group Land Detector
*/ */
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 15.0f); PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/** /**
* Multicopter max throttle * Multicopter max throttle